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AntennaTracker: simplify UART setup

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This commit is contained in:
Andrew Tridgell 2016-05-16 13:33:43 +10:00
parent b3f94184f2
commit d3c19de9df
1 changed files with 9 additions and 19 deletions
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28
AntennaTracker/system.cpp
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@ -36,31 +36,21 @@ void Tracker::init_tracker()
// init baro before we start the GCS, so that the CLI baro test works // init baro before we start the GCS, so that the CLI baro test works
barometer.init(); barometer.init();
// init the GCS and start snooping for vehicle data
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
gcs[0].set_snoop(mavlink_snoop_static);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial // we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be. // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true; usb_connected = true;
check_usb_mux(); check_usb_mux();
// setup serial port for telem1 and start snooping for vehicle data // setup telem slots with serial ports
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0); for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[1].set_snoop(mavlink_snoop_static); gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs[i].set_snoop(mavlink_snoop_static);
// setup serial port for telem2 and start snooping for vehicle data }
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
gcs[2].set_snoop(mavlink_snoop_static);
// setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
gcs[3].set_snoop(mavlink_snoop_static);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED